Control method of scrubber booster wheel and scrubber

Abstract

The application discloses a control method of a scrubber booster wheel and the scrubber, a booster motor is connected to the booster wheel, the control method of the scrubber booster wheel comprises the following steps: judging whether the booster motor poles generate electric potential or not; if the booster motor poles generate electric potential, acquiring the electric potential direction; and controlling the booster motor to work according to the electric potential direction generated by the booster motor. According to the control method of the scrubber booster wheel, the user is provided with power assistance when operating the scrubber, the user is facilitated to operate, and the user's physical strength is saved. Meanwhile, no additional sensing device is needed, the structure is simplified, and the cost is reduced.

Description

Technical Field

[0001] This invention relates to the field of household appliances, and more particularly to a control method for the assist wheel of a floor scrubber and the floor scrubber itself. Background Technology

[0002] Currently, most floor scrubbers on the market have rear wheels that primarily serve to reduce resistance and support the machine body; they do not provide any assist function. Furthermore, the roller brush experiences significant pull-back resistance during cleaning, making it strenuous for users. In addition, floor scrubbers with assist functions are generally more complex in structure and more expensive. Summary of the Invention

[0003] This invention aims to at least solve one of the technical problems existing in the prior art. To this end, this invention proposes a control method for the assist wheel of a floor scrubber. This method provides assistance to the user in operating the floor scrubber, making operation easier and saving the user's effort. Simultaneously, it eliminates the need for additional sensing devices, simplifying the structure and reducing costs.

[0004] The present invention also proposes a floor scrubber, wherein the assist wheel of the floor scrubber operates by the aforementioned floor scrubber assist wheel control method.

[0005] According to an embodiment of the present invention, a control method for a floor scrubber's assist wheel is provided, wherein an assist motor is connected to the assist wheel, and the control method for the floor scrubber's assist wheel includes: determining whether an electromotive force is generated at the two poles of the assist motor; if an electromotive force is generated at the two poles of the assist motor, obtaining the direction of the electromotive force; and controlling the assist motor to operate according to the direction of the electromotive force generated by the assist motor.

[0006] The control method for the assist wheel of a floor scrubber according to an embodiment of the present invention determines whether an electromotive force is generated at the two poles of the assist motor. If an electromotive force is generated, the direction of the electromotive force is obtained, and the assist motor is controlled to operate according to the direction of the electromotive force generated by the assist motor, thereby driving the assist wheel of the floor scrubber to rotate, providing assistance to the user in operating the floor scrubber, making it convenient for the user to operate and saving the user's physical strength. At the same time, no additional sensing device is required, simplifying the structure and reducing costs.

[0007] In some embodiments of the present invention, controlling the operation of the assist motor according to the direction of the electromotive force generated by the assist motor includes: determining whether the electromotive force is a reverse electromotive force; if so, controlling the assist motor to apply a positive voltage, and the assist motor driving the assist wheel to rotate in the forward direction.

[0008] In some embodiments of the present invention, controlling the operation of the assist motor according to the direction of the electromotive force generated by the assist motor includes: determining whether the electromotive force is a positive electromotive force; if so, controlling the assist motor to apply a reverse voltage, and the assist motor driving the assist wheel to rotate in the opposite direction.

[0009] In some embodiments of the present invention, the control method further includes: confirming that the assist motor is stalled; and controlling the assist motor to be de-energized.

[0010] In some embodiments of the present invention, confirming that the assist motor is stalled includes: confirming that the current of the assist motor rises to a first preset current.

[0011] In some embodiments of the present invention, the control method further includes: confirming that the floor scrubber is in an airborne state; and controlling the power supply of the assist motor to be cut off.

[0012] In some embodiments of the present invention, confirming that the floor scrubber is in an airborne state includes: confirming that the current of the assist motor is lower than a second preset value.

[0013] In some embodiments of the present invention, the control method further includes: confirming that the floor scrubber receives a fixed-point cleaning instruction; controlling the assist motor to apply a reverse preset voltage, the assist motor not rotating, and generating torque that balances the forward force of the roller brush.

[0014] In some embodiments of the present invention, the fixed-point cleaning instruction is given through a user operation panel.

[0015] According to an embodiment of the present invention, the assist wheel of the floor scrubber operates using the aforementioned control method for the assist wheel of the floor scrubber.

[0016] According to an embodiment of the present invention, the floor scrubber operates using the aforementioned control method for the floor scrubber's assist wheel. By determining whether an electromotive force (EMF) is generated at the poles of the assist motor, and if so, obtaining the direction of the EMF, the assist motor is controlled to operate based on this direction, driving the assist wheel to rotate. This provides assistance to the user in operating the floor scrubber, facilitating operation and saving the user's effort. Furthermore, no additional sensing devices are required, simplifying the structure and reducing costs.

[0017] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0018] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0019] Figure 1 This is a partial perspective view of a floor scrubber according to an embodiment of the present invention;

[0020] Figure 2 This is a flowchart of a control method for the assist wheel of a floor scrubber according to an embodiment of the present invention. The flowchart is only a schematic diagram and does not represent the actual sequence.

[0021] Figure 3 This is a partial perspective view of a floor scrubber according to an embodiment of the present invention.

[0022] Figure label:

[0023] 10. Floor scrubber;

[0024] 1. Assist wheel; 2. Assist motor; 3. Roller brush; 4. Main body; 5. Drive shaft. Detailed Implementation

[0025] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0026] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, features defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0027] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0028] The control method of the assist wheel 1 of the floor scrubber 10 according to an embodiment of the present invention is described below with reference to the accompanying drawings.

[0029] like Figure 1 and Figure 3As shown, an auxiliary motor 2 is connected to the auxiliary wheel 1. The auxiliary wheel 1 can drive the auxiliary motor 2 to rotate, forming a generator. At the same time, the auxiliary motor 2 can also drive the auxiliary wheel 1 to rotate, forming a motor. Among them, the auxiliary motor 2 is a DC motor. DC motors are reversible, that is, DC motors can act as both motors and generators, thereby realizing the switching of the working state of the auxiliary motor 2.

[0030] like Figure 2 As shown, the control method for the assist wheel 1 of the floor scrubber 10 according to an embodiment of the present invention includes:

[0031] Determine whether an electromotive force is generated at the two poles of the assist motor 2. It is understandable that when the assist wheel 1 drives the assist motor 2 to rotate, the assist motor 2 generates electricity through magnetic induction, and an electromotive force will be generated at the two poles of the assist motor 2.

[0032] If an electromotive force (EMF) is generated at the two poles of the assist motor 2, the direction of the EMF is determined. The EMF direction can be either positive or negative. The device for determining the EMF direction and controlling the operation of the assist motor 2 is a chip integrated into the main control board of the floor scrubber 10. It should be noted that the direction that promotes the forward movement of the floor scrubber 10 is the positive direction, and the direction that hinders the forward movement of the floor scrubber 10 is the negative direction.

[0033] The direction of the electromotive force generated by the assist motor 2 is controlled to work. If the assist motor 2 generates a positive electromotive force, it is controlled to work in the reverse direction. If the assist motor 2 generates a negative electromotive force, it is controlled to work in the forward direction. That is, the direction of the electromotive force generated by the assist motor 2 is opposite to the direction of the assist motor 2's operation. This is determined by the characteristics of the DC motor itself.

[0034] Understandably, when the user pushes the stationary floor scrubber 10, the assist wheel 1 drives the assist motor 2 to rotate. At this time, the assist motor 2 acts as a generator, generating an electric potential at its two poles. The chip controls the assist motor 2 to work based on the direction of the electric potential at its two poles. At this time, the assist motor 2 acts as an electric motor.

[0035] Therefore, by relying on the inherent characteristics of the assist motor 2 (i.e., the reversibility of the DC generator), the working state of the floor scrubber 10 can be switched, eliminating the need for additional sensing devices, simplifying the structure and reducing costs.

[0036] Furthermore, if a roller brush is used to assist the floor scrubber, the assistance will diminish due to wear and tear during use. Therefore, in this invention, the assistance provided by the motor is more stable compared to the roller brush method.

[0037] According to the control method of the assist wheel 1 of the floor scrubber 10 of the present invention, it determines whether an electromotive force is generated at the two poles of the assist motor 2. If an electromotive force is generated at the two poles of the assist motor 2, the direction of the electromotive force is obtained, and the assist motor 2 is controlled to work according to the direction of the electromotive force generated by the assist motor 2, thereby driving the assist wheel 1 of the floor scrubber 10 to rotate, providing assistance to the user in operating the floor scrubber 10, making it convenient for the user to operate and saving the user's physical strength. At the same time, no additional sensing device is required, simplifying the structure and reducing costs.

[0038] In some embodiments of the present invention, such as Figure 2 As shown, controlling the operation of the assist motor 2 according to the direction of the electromotive force generated by the assist motor 2 includes:

[0039] Determining whether the potential is reversed is the same as determining whether the assist wheel 1 is rotating in the forward direction. As can be understood, when the assist wheel 1 drives the assist motor 2 to rotate in the forward direction, the assist motor 2 generates electricity through magnetic induction, and the two poles of the assist motor 2 will generate a reverse potential. Determining whether the potential is reversed is equivalent to determining whether the assist wheel 1 is rotating in the forward direction.

[0040] If so, control the positive voltage to the assist motor 2, and the assist motor 2 will drive the assist wheel 1 to rotate in the forward direction.

[0041] It is understandable that when the user pushes the floor scrubber 10 forward to start, the assist wheel 1 drives the assist motor 2 to rotate in the forward direction. At this time, the assist motor 2 is a generator, and the two poles of the assist motor 2 will generate a reverse electromotive force. When the chip samples the reverse electromotive force generated by the two poles of the assist motor 2, it will control the assist motor 2 to pass a positive voltage, thereby enabling the assist motor 2 to drive the assist wheel 1 to rotate in the forward direction, thus achieving positive assistance.

[0042] Therefore, when the chip samples the reverse electromotive force generated at the two poles of the assist motor 2, it determines that the user is pushing the floor scrubber 10 forward and starting it. It then controls the assist motor 2 to receive a positive voltage, driving the assist wheel 1 to rotate in the forward direction, thus assisting the user in pushing the floor scrubber 10 forward and improving the user's operating experience. Simultaneously, the positive voltage is regulated, providing a smoother assist for the user in pushing the floor scrubber 10 forward, further enhancing the user's operating experience.

[0043] Furthermore, the determination that the user is pushing the floor scrubber 10 forward by confirming that the polarity of the assist motor 2 is reversed is achieved by judging the characteristics of the assist motor 2 itself (i.e., judging the direction of the generator's potential). No additional sensing device is required, which simplifies the structure and reduces costs.

[0044] In some embodiments of the present invention, controlling the operation of the assist motor 2 according to the direction of the electromotive force generated by the assist motor 2 includes:

[0045] Determining whether the potential is positive: It can be understood that when the assist wheel 1 drives the assist motor 2 to rotate in the opposite direction, the assist motor 2 generates electricity through magnetic induction, and a positive potential will be generated at the two poles of the assist motor 2. Determining whether the potential is positive is equivalent to determining whether the assist wheel 1 is rotating in the opposite direction.

[0046] If so, control the assist motor 2 to apply reverse voltage, and the assist motor 2 will drive the assist wheel 1 to rotate in the opposite direction.

[0047] It is understandable that when the user pulls the floor scrubber 10 back to start it, the assist wheel 1 drives the assist motor 2 to rotate in the opposite direction. At this time, the assist motor 2 is a generator, and the two poles of the assist motor 2 will generate a positive electromotive force. When the chip samples the positive electromotive force generated on the two poles of the assist motor 2, it will control the assist motor 2 to pass a reverse voltage, thereby enabling the assist motor 2 to drive the assist wheel 1 to rotate in the opposite direction, thus achieving reverse assistance.

[0048] Therefore, when the chip samples the positive potential generated at the two poles of the assist motor 2, it determines that the user is pulling back the floor scrubber 10 to start it. It then controls the assist motor 2 to apply a reverse voltage, causing the assist wheel 1 to rotate in the opposite direction. This provides assistance to the user in pulling back the floor scrubber 10, improving the user's operating experience. Simultaneously, the reverse voltage is regulated, providing a smoother assist for the user in pulling back the floor scrubber 10, further enhancing the user's operating experience.

[0049] Furthermore, since the roller brush 3 rotates continuously in the forward direction, the resistance to pull back is greater than the resistance to push forward. Therefore, the power supply voltage of the assist motor 2 during pullback should be greater than that during push forward, and in the opposite direction. This ensures that the user's feel is similar when operating the floor scrubber 10 during pullback and push forward, further improving the user experience. If the roller brush 3 itself has a forward and reverse rotation function, the power supply voltage of the assist motor 2 during pullback and push forward can be kept consistent.

[0050] Furthermore, the determination that the user is pulling back the floor scrubber 10 to start is achieved by confirming that the two poles of the assist motor 2 are positive potentials. This is based on the judgment of the characteristics of the assist motor 2 itself (i.e., the judgment of the direction of the generator potential). No additional sensing device is required, which simplifies the structure and reduces costs.

[0051] In some embodiments of the present invention, such as Figure 2 As shown, the control method for the assist wheel 1 of the floor scrubber 10 also includes:

[0052] It is confirmed that the assist motor 2 is stalled. It is understandable that when the user actively controls the floor scrubber 10 to slow down or stop, the assist wheel 1 will slow down or stop, thus causing the assist motor 2 to stall.

[0053] The power to the assist motor 2 is cut off. This means that when the assist wheel 1 decelerates or stops, the assist motor 2 no longer provides assistance to the assist wheel 1, causing the assist wheel 1 to stop and ensuring that the floor scrubber 10 stops moving. This also allows the user to perform reversing operations.

[0054] When the user wants to stop the floor scrubber 10, for example, during the forward pushing process, the user operates the floor scrubber 10 to slow down or stop. At this time, the floor scrubber 10 confirms that the assist motor 2 is stalled and controls the assist motor 2 to cut off the power, so that the assist wheel 1 stops, thereby stopping the floor scrubber 10 from moving forward.

[0055] When the user wants to change direction, for example, during the forward push, the user wants to pull back the floor scrubber 10 to work. The user operates the floor scrubber 10 to slow down or stop. At this time, the floor scrubber 10 confirms that the assist motor 2 is stalled and controls the assist motor 2 to cut off the power, so that the assist wheel 1 stops, thereby stopping the floor scrubber 10 from moving forward and allowing the user to pull back the floor scrubber 10 to work.

[0056] This allows the floor scrubber 10 to automatically stop moving when the user wants to, improving the user experience.

[0057] In some embodiments of the present invention, such as Figure 2 As shown, the stall condition of the booster motor 2 is confirmed to include:

[0058] Confirm that the current of the assist motor 2 rises to the first preset current. When the current of the assist motor rises to the first preset current, it is determined that the assist motor 2 is stalled.

[0059] Understandably, when a user wants to stop the floor scrubber 10, the user will control the floor scrubber 10 to slow down or stop, which will cause the assist wheel 1 to slow down or stop, thereby causing the assist motor 2 to stall, resulting in a decrease in the speed of the assist motor 2, which in turn increases the back electromotive force, and thus increases the current. When the chip samples that the current has risen to the first preset current, it determines that the assist motor 2 is stalled, and can control the assist motor 2 to be de-energized, thereby stopping the assist wheel 1 and stopping the floor scrubber 10 from moving.

[0060] It should be noted that when the assist motor 2 operates as an electric motor, cutting the magnetic field lines will cause a back electromotive force (EMF). The back EMF is directly proportional to the speed of the assist motor 2. When the speed of the assist motor 2 decreases, the back EMF also decreases. Since the current is equal to (voltage - back EMF) / resistance, the current will increase when the back EMF decreases.

[0061] Therefore, when the chip samples that the current rises to the first preset current, it determines that the speed of the assist motor 2 has dropped to a certain value, which means that the user wants to stop moving the floor scrubber 10. Thus, it controls the power to cut off the assist motor 2, thereby stopping the assist wheel 1 and realizing the automatic stopping of the floor scrubber 10. There is no need for the user to cut off the power, which simplifies the operation steps and improves the user experience.

[0062] Furthermore, the determination that the assist motor 2 is stalled by confirming that the current of the assist motor 2 rises to the first preset current is achieved by judging the logical relationship of the characteristics of the assist motor 2 itself (i.e., judging the relationship between the motor speed and the current). No additional sensing device is required, which simplifies the structure and reduces costs.

[0063] In some embodiments of the present invention, such as Figure 2 As shown, the control method for the assist wheel 1 of the floor scrubber 10 also includes:

[0064] Confirm that the floor scrubber 10 is in an airborne state;

[0065] Power off the control motor 2.

[0066] This avoids problems such as wasted electricity and damage to the assist motor 2 caused by the ineffective operation of the assist system when the floor scrubber 10 is airborne.

[0067] In some embodiments of the present invention, such as Figure 2 As shown, confirming that the floor scrubber 10 is in an airborne state includes:

[0068] Confirm that the current of the assist motor 2 is lower than the second preset value.

[0069] It is understandable that when the floor scrubber 10 is in an airborne state, the assist wheel 1 of the floor scrubber 10 spins freely, which reduces the torque of the assist motor 2. Since the torque of the assist motor 2 is proportional to the current, this results in a decrease in the current. Specifically, the free spin of the assist wheel 1 is caused by the floor scrubber 10 suddenly becoming airborne during forward, backward, and stationary operation, while the assist motor 2 continues to operate, but the assist wheel 1 remains unloaded.

[0070] Therefore, when the chip in the circuit board of the floor scrubber 10 detects that the current is lower than the second preset value, it can be determined that the torque of the assist motor 2 has decreased to the torque value corresponding to the second preset value. This determines that the assist wheel 1 of the floor scrubber 10 is spinning freely, and thus determines that the floor scrubber 10 is in an airborne state. This controls the power to be cut off to stop the assist wheel 1 from rotating, thereby avoiding the waste of electrical energy and damage to the assist motor 2 caused by the ineffective operation of the assist system when the floor scrubber 10 is in an airborne state.

[0071] It is understandable that confirming that the floor scrubber 10 is in an airborne state by confirming that the current of the assist motor 2 is lower than the second preset value is achieved by judging the logical relationship of the characteristics of the assist motor 2 itself (i.e. the relationship between current and torque). There is no need to set up an additional sensing device, which simplifies the structure and reduces costs.

[0072] Of course, the airborne state of the floor scrubber 10 in this invention is not limited to the floor scrubber 10 being airborne, but also includes situations where the assist wheel 1 leaves the ground, such as when the floor scrubber 10 tipes over.

[0073] In some embodiments of the present invention, such as Figure 2 As shown, the control method for the assist wheel 1 of the floor scrubber 10 also includes:

[0074] Confirm that the floor scrubber 10 has received the designated cleaning instruction;

[0075] The control motor 2 is supplied with a reverse preset voltage, so the motor 2 does not rotate and generates a torque that balances the forward force of the roller brush 3.

[0076] Understandably, the torque generated by the assist motor 2, which balances the forward force of the roller brush 3, can prevent the floor scrubber 10 from slipping forward.

[0077] In some embodiments of the present invention, the fixed-point cleaning instruction is given through a user operation panel. Users can control the floor scrubber 10 to perform fixed-point cleaning according to their needs through the user operation panel, which enhances the human-machine interaction experience and facilitates user operation.

[0078] The following describes a control method for the assist wheel 1 of a floor scrubber 10 according to a specific embodiment of the present invention. It is to be understood that the following description is merely exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0079] like Figure 2 As shown, the control method for the assist wheel 1 of the floor scrubber 10 includes determining whether an electromotive force is generated at the two poles of the assist motor 2; if an electromotive force is generated at the two poles of the assist motor 2, obtaining the direction of the electromotive force; and controlling the assist motor 2 to work according to the direction of the electromotive force generated by the assist motor 2. This causes the assist wheel 1 of the floor scrubber 10 to rotate, providing assistance to the user in operating the floor scrubber 10, making the operation more convenient for the user and saving the user's physical strength.

[0080] like Figure 2 As shown, controlling the operation of the assist motor 2 includes determining if the electromotive force is reversed; if so, the assist motor 2 is powered by a forward voltage, driving the assist wheel 1 to rotate in the forward direction. This assists the user in pushing the floor scrubber 10 forward, improving the user's operating experience.

[0081] like Figure 2As shown, controlling the operation of the assist motor 2 also includes determining whether the potential is positive; if so, controlling the assist motor 2 to apply a reverse voltage, the assist motor 2 drives the assist wheel 1 to rotate in the opposite direction, thereby assisting the user in pulling back the floor scrubber 10 and improving the user's operating experience.

[0082] like Figure 2 As shown, the control method also includes confirming that the assist motor 2 is stalled; and controlling the assist motor 2 to cut off power. Confirming that the assist motor 2 is stalled includes confirming that the current of the assist motor 2 rises to a first preset current. This allows the floor scrubber 10 to automatically stop moving when the user wants to stop, improving the user experience.

[0083] like Figure 2 As shown, the control method also includes confirming that the floor scrubber 10 is in an airborne state and controlling the power supply to the assist motor 2 to be cut off. Confirming that the floor scrubber 10 is in an airborne state includes confirming that the current of the assist motor 2 is lower than a second preset value. This can avoid problems such as energy waste and damage to the assist motor 2 caused by the ineffective operation of the assist system when the floor scrubber 10 is in an airborne state.

[0084] like Figure 2 As shown, the control method also includes confirming that the floor scrubber 10 receives a fixed-point cleaning instruction; controlling the assist motor 2 to receive a reverse preset voltage, so that the assist motor 2 does not rotate and generates torque that balances the forward force of the roller brush 3. The fixed-point cleaning instruction is given through the user control panel. This prevents the floor scrubber 10 from slipping forward.

[0085] When the chip samples a reverse electromotive force (EMF) at the poles of the assist motor 2, it determines that the user is pushing the floor scrubber 10 forward. The chip then controls the assist motor 2 to apply a positive voltage, thus assisting the user in pushing the floor scrubber 10 forward. When the chip samples a positive EMF at the poles of the assist motor 2, it determines that the user is pulling the floor scrubber 10 backward. The chip then controls the assist motor 2 to apply a reverse voltage, thus assisting the user in pulling the floor scrubber 10 back. When the chip samples a current that rises to a first preset current, it determines that the speed of the assist motor 2 has decreased to a certain value, indicating that the user wants to stop moving the floor scrubber 10. The chip then controls the assist motor 2 to de-energize, automatically stopping the floor scrubber 10. When the chip in the circuit board of the floor scrubber 10 detects a current lower than a second preset value, it determines that the torque of the assist motor 2 has decreased to the torque value corresponding to the second preset value. This indicates that the assist wheel 1 of the floor scrubber 10 is spinning freely, and the floor scrubber 10 is in an airborne state. The chip then controls the assist motor 2 to de-energize, automatically stopping the assist wheel 1. When the user issues a fixed-point cleaning instruction through the user control panel, the floor scrubber 10 receives the fixed-point cleaning instruction and controls the auxiliary motor 2 to apply a reverse preset voltage. At the same time, the auxiliary motor 2 does not rotate and generates torque that balances the forward force of the roller brush 3, thereby realizing the fixed-point cleaning of the floor scrubber 10.

[0086] The floor scrubbing machine 10 according to an embodiment of the present invention is described below with reference to the accompanying drawings.

[0087] like Figure 1 and Figure 3 As shown, in the floor scrubber 10 according to an embodiment of the present invention, the assist wheel 1 of the floor scrubber 10 operates by the control method of the assist wheel 1 of the floor scrubber 10 described above.

[0088] Specifically, refer to Figure 1 and Figure 3 The floor scrubber 10 includes assist wheels 1, assist motors 2, roller brushes 3, and a main body 4. The assist wheels 1 and assist motors 2 are the assist devices of the floor scrubber 10. There are multiple assist wheels 1, arranged along a first direction, and connected to each other via drive shafts 5. There are multiple assist motors 2 corresponding to the assist wheels 1, and the multiple assist wheels 1 and multiple assist motors 2 are connected in the axial direction of the assist wheels 1 via drive shafts 5. Figure 1 In the example shown, there are two assist wheels 1, but the present invention is not limited to this. There can be more assist wheels 1, such as three, four, five or six, etc.

[0089] The roller brush 3 is the cleaning device of the floor scrubber 10. The roller brush 3 moves along the first direction (e.g., Figure 1 Extending in the ab direction, and rotatably connected to the main body 4, the roller brush 3 and the assist wheel 1 in the second direction (e.g., in the ab direction) extend and are rotatably connected to the main body 4. Figure 1 The cd direction in the diagram can be arranged in the forward and backward direction during use, wherein the first direction and the second direction are perpendicular.

[0090] According to an embodiment of the present invention, the floor scrubber 10 operates using the control method described above for the assist wheel 1. It determines whether an electromotive force (EMF) is generated at the poles of the assist motor 2. If an EMF is generated, its direction is determined, and the assist motor 2 is controlled to operate based on this direction, driving the assist wheel 1 to rotate. This provides assistance from the assist wheel 1, facilitating user operation and saving user effort. Furthermore, it eliminates the need for additional sensing devices, simplifying the structure and reducing costs.

[0091] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

Claims

1. A method for controlling the assist wheel of a floor scrubber, characterized in that, The assist wheel is connected to an assist motor, wherein the assist motor is a DC motor, and the control method for the assist wheel of the floor scrubber includes: Determine whether an electromotive force is generated at the two poles of the assist motor; If an electromotive force is generated at the two poles of the assist motor, the direction of the electromotive force is obtained; The operation of the assist motor is controlled according to the direction of the electromotive force generated by the assist motor.

2. The control method for the assist wheel of a floor scrubber according to claim 1, characterized in that, The step of controlling the operation of the assist motor according to the direction of the electromotive force generated by the assist motor includes: Determine whether the potential is a reverse potential; If so, the assist motor is controlled to receive a positive voltage, and the assist motor drives the assist wheel to rotate in the forward direction.

3. The control method for the assist wheel of a floor scrubber according to claim 1, characterized in that, The step of controlling the operation of the assist motor according to the direction of the electromotive force generated by the assist motor includes: Determine whether the stated potential is a positive potential; If so, the assist motor is controlled to receive a reverse voltage, and the assist motor drives the assist wheel to rotate in the opposite direction.

4. The control method for the assist wheel of a floor scrubber according to any one of claims 1-3, characterized in that, The control method further includes: Confirm that the power assist motor is stalled; The power to the assist motor is cut off.

5. The control method for the assist wheel of a floor scrubber according to claim 4, characterized in that, The confirmation that the power assist motor is stalled includes: Confirm that the current of the assist motor has risen to the first preset current.

6. The control method for the assist wheel of a floor scrubber according to claim 1, characterized in that, The control method further includes: Confirm that the floor scrubber is in an airborne state; The power to the assist motor is cut off.

7. The control method for the assist wheel of a floor scrubber according to claim 6, characterized in that, The confirmation that the floor scrubber is in an airborne state includes: Confirm that the current of the assist motor is lower than the second preset value.

8. The control method for the assist wheel of a floor scrubber according to claim 1, characterized in that, The control method further includes: Confirm that the floor scrubber has received the designated cleaning instruction; The assist motor is controlled to receive a reverse preset voltage, so that the assist motor does not rotate and generates a torque that balances the forward force of the roller brush.

9. The control method for the assist wheel of a floor scrubber according to claim 8, characterized in that, The fixed-point cleaning instructions are given through the user control panel.

10. A floor scrubbing machine, characterized in that, The assist wheel of the floor scrubber operates using the control method for the assist wheel of the floor scrubber as described in any one of claims 1-9.

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